3 research outputs found
A Game-Theoretic Approach to Decision Making for Multiple Vehicles at Roundabout
In this paper, we study the decision making of multiple autonomous vehicles
at a roundabout. The behaviours of the vehicles depend on their aggressiveness,
which indicates how much they value speed over safety. We propose a distributed
decision-making process that balances safety and speed of the vehicles. In the
proposed process, each vehicle estimates other vehicles' aggressiveness and
formulates the interactions among the vehicles as a finite sequential game.
Based on the Nash equilibrium of this game, the vehicle predicts other
vehicles' behaviours and makes decisions. We perform numerical simulations to
illustrate the effectiveness of the proposed process, both for safety (absence
of collisions), and speed (time spent within the roundabout)
Decision Making for Autonomous Vehicles at Unsignalized Intersection in Presence of Malicious Vehicles
In this paper, we investigate the decision making of autonomous vehicles in
an unsignalized intersection in presence of malicious vehicles, which are
vehicles that do not respect the law by not using the proper rules of the right
of way. Each vehicle computes its control input as a Nash equilibrium of a game
determined by the priority order based on its own belief: each of non-malicious
vehicle bases its order on the law, while a malicious one considers itself as
having priority. To illustrate our method, we provide numerical simulations,
with different scenarios given by different cases of malicious vehicles.Comment: IEEE Conference on Intelligent Transportation Systems (ITSC), 201
Game-theoretic Modeling of Traffic in Unsignalized Intersection Network for Autonomous Vehicle Control Verification and Validation
For a foreseeable future, autonomous vehicles (AVs) will operate in traffic
together with human-driven vehicles. Their planning and control systems need
extensive testing, including early-stage testing in simulations where the
interactions among autonomous/human-driven vehicles are represented. Motivated
by the need for such simulation tools, we propose a game-theoretic approach to
modeling vehicle interactions, in particular, for urban traffic environments
with unsignalized intersections. We develop traffic models with heterogeneous
(in terms of their driving styles) and interactive vehicles based on our
proposed approach, and use them for virtual testing, evaluation, and
calibration of AV control systems. For illustration, we consider two AV control
approaches, analyze their characteristics and performance based on the
simulation results with our developed traffic models, and optimize the
parameters of one of them.Comment: IEEE Intelligent Transportation Systems Transaction